Merge branch 'feature_add_tmc9660_reg'

examples/evalboards/TMC9660/reg_app/headless/tmc9660_3ph_eval_min_demo.py

@@ -0,0 +1,42 @@
+################################################################################
+# Copyright © 2024 Analog Devices Inc. All Rights Reserved.
+# This software is proprietary to Analog Devices, Inc. and its licensors.
+################################################################################
+"""Minimal example on how to use PyTrinamic with TMC9660-3PH-EVAL/TMC9660-STEPPER-EVAL.
+
+The TMC9660-3PH-EVAL/TMC9660-STEPPER-EVAL is used in headless mode for this example.
+
+Note: To run this script the EVAL first needs an uploaded/burned configuration
+and the register app must have been started.
+
+   --------+                       
+           |  USB-UART Cable - Connected to the machine running this script.                                       
+        +--|-----------------+
+        |  |                 |
+        |                    |
+        |TMC9660-3PH-EVAL or |
+        |TMC9660-STEPPER-EVAL|
+        +--------------------+
+"""
+
+import time
+
+from pytrinamic.connections import ConnectionManager
+
+from pytrinamic.ic import TMC9660
+
+
+
+com_port = "COM5"  # Note: Change this to the com port of the USB-UART cable used.
+
+with ConnectionManager(f"--interface serial_tmcl --port {com_port}").connect() as my_interface:
+
+    tmc9660 = TMC9660(my_interface)
+
+    tmc9660.write(TMC9660.MCC.MOTOR_CONFIG.TYPE.choice["NONE No motor"])
+    tmc9660.write(TMC9660.MCC.MOTOR_CONFIG.N_POLE_PAIRS, 4)
+
+    for _ in range(20):
+        print(f"I0 = {tmc9660.read(TMC9660.MCC.ADC_I1_I0_SCALED.ADC_SCALED_I0)}")
+        print(f"I1 = {tmc9660.read(TMC9660.MCC.ADC_I1_I0_SCALED.ADC_SCALED_I1)}")
+        time.sleep(0.2)

examples/evalboards/TMC9660/reg_app/with_landungsbruecke/tmc9660_3ph_eval_min_demo.py

@@ -0,0 +1,37 @@
+################################################################################
+# Copyright © 2024 Analog Devices Inc. All Rights Reserved.
+# This software is proprietary to Analog Devices, Inc. and its licensors.
+################################################################################
+"""Example on how to use TMC9660-3PH-EVKIT.
+
+Note: To run this script the TMC9660-3PH-EVAL first needs an uploaded/burned configuration
+and the register app must have been started.
+
+                            +-----+  +-------------------+
+                     USB    |     |==|                   |
+                     -------|     |==|                   |
+Connected to the machine    |     |==|                   |
+running this script.        |LB   |==|TMC9660-3PH-EVAL   |
+                            +-----+  +-------------------+
+
+"""
+
+import time
+
+from pytrinamic.connections import ConnectionManager
+
+from pytrinamic.ic import TMC9660
+from pytrinamic.evalboards import TMC9660_3PH_eval
+
+
+with ConnectionManager().connect() as my_interface:
+
+    tmc9660_eval = TMC9660_3PH_eval(my_interface)
+
+    tmc9660_eval.write(TMC9660.MCC.MOTOR_CONFIG.TYPE.choice["BLDC Three phase BLDC motor"])
+    tmc9660_eval.write(TMC9660.MCC.MOTOR_CONFIG.N_POLE_PAIRS, 4)
+
+    for _ in range(20):
+        print(f"I0 = {tmc9660_eval.read(TMC9660.MCC.ADC_I1_I0_SCALED.ADC_SCALED_I0)}")
+        print(f"I1 = {tmc9660_eval.read(TMC9660.MCC.ADC_I1_I0_SCALED.ADC_SCALED_I1)}")
+        time.sleep(0.2)

pytrinamic/evalboards/TMC9660_eval.py

@@ -13,15 +13,37 @@
 
 from pytrinamic.modules import ParameterApiDevice
 from pytrinamic.ic import TMC9660
+from pytrinamic.ic import RegisterApiDevice
+from pytrinamic.tmcl import TMCLCommand
 
 
-class TMC9660_eval(ParameterApiDevice):
+class TMC9660_eval(RegisterApiDevice, ParameterApiDevice):
     """Generic class for TMC9660 eval boards."""
     def __init__(self, connection, default_module_id=3):
         self._connection = connection
         self._ap_index_bit_width = 12
         self._module_id = default_module_id
         self.ics = [TMC9660()]
+
+    def write_register(self, register_address, block, value):
+        """Implementation of the RegisterApiDevice::write_register() function."""
+        return self._connection.write_register(
+            register_address,
+            TMCLCommand.WRITE_MC,
+            block,
+            value,
+            module_id=self._module_id
+        )
+
+    def read_register(self, register_address, block, signed=False):
+        """Implementation of the RegisterApiDevice::read_register() function."""
+        return self._connection.read_register(
+            register_address,
+            TMCLCommand.READ_MC,
+            block,
+            module_id=self._module_id,
+            signed=signed,
+        )
 
     def _get_axis_parameter(self, index: int, signed: bool):
         """Implementation of the ParameterApiDevice::_get_axis_parameter() function."""